Nail gun casting multi-sided burr intelligent grinding equipment

Abstract

The present application relates to the technical field of die casting polishing, and in particular to a multi-sided intelligent polishing device for nail gun castings, including a manipulator and a nail gun feeding device, a polishing device and a nail gun unloading device arranged around the manipulator, wherein the manipulator is provided with a grinding and clamping integrated clamp for clamping the nail gun casting on the nail gun feeding device to the polishing device for polishing and then transferring it to the nail gun unloading device. The multi-sided intelligent polishing device for nail gun castings provided in the present application utilizes the nail gun feeding device to load the castings, the manipulator to clamp the castings to the polishing device for polishing, and the nail gun unloading device to unload the castings, thereby realizing the polishing operation of the nail gun castings, and the automation level is high, which improves the polishing efficiency and ensures the stability of the polishing quality.

Description

[Technical field]

[0001] The present application relates to the technical field of die casting polishing, and in particular to a multi-faceted intelligent polishing device for nail gun castings. [Background technology]

[0002] Die-casting is a commonly used metal forming process, which has the advantages of high product precision and low mass production cost. However, die-cast parts are prone to burrs, especially at the parting surface. For example, die-cast nail gun castings need to be polished on the front, back and two sides. The current polishing method is manual polishing, which is inefficient and has unstable polishing quality due to reliance on manual control. [Summary of the invention]

[0003] The purpose of the present application is to provide an intelligent multi-sided burr grinding device for nail gun castings, which utilizes the nail gun loading device to load the material, the robot arm to clamp the material to the burr grinding device for grinding, and the nail gun unloading device to unload the material, thereby realizing the burr grinding operation of the nail gun castings, and has a high degree of automation, which improves the grinding efficiency and ensures the stability of the grinding quality.

[0004] This application is implemented through the following technical solutions:

[0005] The multi-sided burr grinding device for nail gun castings comprises a manipulator and a nail gun feeding device, a burr grinding device and a nail gun unloading device arranged around the manipulator. The manipulator is provided with an integrated grinding and clamping fixture for clamping the nail gun casting on the nail gun feeding device to the burr grinding device for grinding and then transferring it to the nail gun unloading device.

[0006] As described above, the multi-sided intelligent grinding equipment for nail gun castings, the integrated grinding and clamping fixture includes a fixture body and a linear grinding fixture and a plane grinding device arranged on the fixture body, and the linear grinding fixture includes a front line grinding fixture and a back line grinding fixture.

[0007] The multi-faceted intelligent grinding device for nail gun castings as described above, wherein the main line grinding fixture comprises a first clamping finger and a second clamping finger, wherein the first clamping finger and the second clamping finger are used to clamp the head and the tail of the nail gun casting respectively to expose the front side to be polished;

[0008] The backline grinding fixture comprises a third clamping finger and a fourth clamping finger, and the third clamping finger and the fourth clamping finger are used to clamp the head and the tail of the nail gun casting respectively to expose the back side to be ground.

[0009] As described above, in the multi-surface intelligent grinding equipment for nail gun castings, the plane grinding device includes a plane grinding disc and a plane grinding drive motor connected to the plane grinding disc to drive the plane grinding disc to rotate.

[0010] The multi-faceted intelligent grinding device for nail gun castings as described above, wherein the nail gun feeding device comprises a conveyor line, and a plurality of positioning fixtures for fixing the nail gun castings are provided on the conveyor line;

[0011] The conveyor line includes a first belt line and a second belt line that run in parallel and synchronously, and the positioning fixture includes a square groove arranged on the first belt line and an arc groove arranged on the second belt line and opposite to the square groove.

[0012] As described above, the multi-sided burring intelligent grinding equipment for nail gun castings, the end of the conveyor line is provided with positioning columns and a lifting cylinder respectively located on both sides of the positioning fixture. When the nail gun casting located in the positioning fixture is conveyed to the end of the conveyor line, the lifting cylinder pushes the nail gun casting toward the positioning columns.

[0013] As described above, in the multi-sided intelligent grinding equipment for nail gun castings, the nail gun unloading device and the nail gun loading device are devices with the same structure but different transport directions.

[0014] The multi-faceted intelligent grinding device for nail gun castings as described above, wherein the grinding device comprises a fixed bracket and a linear grinder and a transfer fixture arranged on the fixed bracket;

[0015] The linear grinder includes a driving wheel, a driven wheel, a grinding belt, a linear grinding drive motor, and a tensioning device; the grinding belt is tensioned on the driving wheel and the driven wheel, the output shaft of the linear grinding drive motor is connected to the driving wheel, and the tensioning device includes a fixed rod fixed on the fixed bracket, an adjusting rod hinged at a first end to the upper end of the fixed rod, a tensioning wheel hinged at a second end of the adjusting rod, and an elastic telescopic rod hinged at a lower end of the fixed rod and the other end of the adjusting rod, the tensioning wheel is arranged on the adjusting rod, and the tensioning wheel is located between the driving wheel and the driven wheel, the elastic telescopic rod elastically extends to make the adjusting rod swing upward, driving the tensioning wheel to tension on the upper section of the grinding belt.

[0016] In the multi-sided intelligent grinding device for nail gun castings as described above, the transfer clamp is a pneumatic flat clamping finger arranged on one side of the fixed bracket, and its opening faces upward.

[0017] In the multi-faceted intelligent grinding device for nail gun castings as described above, a three-dimensional force sensor is provided between the manipulator and the grinding-clamping integrated clamp for sensing the friction and pressure applied to the nail gun castings during grinding.

[0018] Compared with the prior art, this application has the following advantages:

[0019] 1. The multi-sided burr intelligent grinding equipment for nail gun castings utilizes the nail gun loading device to load the material, the manipulator clamps the material to the burr grinding device for grinding, and the nail gun unloading device unloads the material, thereby realizing the burr grinding operation of the nail gun castings. It has a high degree of automation, improves the grinding efficiency and ensures the stability of the grinding quality.

[0020] 2. The integrated grinding and clamping fixture includes a linear grinding fixture and a plane grinding device, and has the functions of clamping the workpiece for grinding and grinding the fixed workpiece. It is particularly suitable for grinding multiple different surfaces. Moreover, when grinding the plane, the workpiece is fixed while the grinding equipment moves, which can better ensure the quality of plane grinding.

[0021] 3. The three-dimensional force sensor can effectively improve the quality and effectiveness of grinding, and facilitate timely replacement of grinding sandpaper.

Brief Description of the Drawings

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 This is a schematic diagram of the three-dimensional structure of the multi-sided intelligent grinding equipment for nail gun castings described in an embodiment of the present application.

[0024] Figure 2 for Figure 1 Enlarged view of part A.

[0025] Figure 3 for Figure 1 Enlarged view of part B.

[0026] Figure 4 It is a schematic diagram of the three-dimensional structure of the grinding and clamping integrated clamp described in an embodiment of the present application.

[0027] Figure 5 It is a schematic diagram of the three-dimensional structure of the sharpening device described in the embodiment of the present application. [Specific implementation method]

[0028] In order to make the technical problems, technical solutions and beneficial effects solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0029] like Figures 1 to 5As shown, the embodiment of the present application proposes a multi-faceted intelligent grinding device for nail gun castings, wherein the front and back of the nail gun casting 10 need to be ground into curved burrs, and the side needs to be ground into a flat surface. The grinding device includes a manipulator 1 and a nail gun feeding device 2, a burr grinding device 3 and a nail gun unloading device 4 arranged around the manipulator 1. The manipulator 1 is provided with a grinding and clamping integrated clamp 5, which is used to clamp the nail gun casting 10 on the nail gun feeding device 2 to the burr grinding device 3 for grinding and then transfer it to the nail gun unloading device 4. Optionally, the manipulator 1 is a six-axis manipulator. The manipulator can form a grinding trajectory through the teaching mode or programming method of an existing manipulator.

[0030] The multi-sided burr intelligent grinding equipment for nail gun castings utilizes the nail gun loading device 2 to load the material, the manipulator 1 to clamp the material to the burr grinding device 3 for grinding, and the nail gun unloading device 4 to unload the material, thereby realizing the burr grinding operation of the nail gun casting, and has a high degree of automation, which improves the grinding efficiency and ensures the stability of the grinding quality.

[0031] The grinding and clamping integrated fixture 5 comprises a fixture body 50, and a linear grinding fixture 51 and a plane grinding device 52 arranged on the fixture body 50. The linear grinding fixture 51 comprises a front line grinding fixture 511 and a back line grinding fixture 512. Specifically, the front line grinding fixture 511, the back line grinding fixture 512 and the plane grinding device 52 are respectively arranged on three mutually perpendicular surfaces of the fixture body 50, which can effectively prevent the front line grinding fixture 511, the back line grinding fixture 512 and the plane grinding device 52 from interfering with each other.

[0032] The integrated grinding and clamping fixture 5 includes a linear grinding fixture 51 and a plane grinding device 52, and has the functions of clamping a workpiece for grinding and grinding a fixed workpiece. It is particularly suitable for grinding multiple different surfaces. Moreover, when grinding a plane, the workpiece is fixed while the grinding equipment moves, which can better ensure the quality of plane grinding.

[0033] Specifically, the front line grinding fixture 511 includes a first clamping finger 5111 and a second clamping finger 5112, and the first clamping finger 5111 and the second clamping finger 5112 are used to clamp the head and tail of the nail gun casting 10 respectively to expose the front side to be polished; the back line grinding fixture 512 includes a third clamping finger 5121 and a fourth clamping finger 5122, and the third clamping finger 5121 and the fourth clamping finger 5122 are used to clamp the head and tail of the nail gun casting 10 respectively to expose the back side to be polished.

[0034] Optionally, the first clamping finger 5111, the second clamping finger 5112, the third clamping finger 5121 and the fourth clamping finger 5122 are all pneumatic flat clamping fingers. In order to ensure the stability of clamping, the first clamping finger 5111 and the third clamping finger 5121 are provided with an arc-shaped notch for clamping the cylindrical handle of the nail gun casting.

[0035] Specifically, the plane grinding device 52 includes a plane grinding disc 521 and a plane grinding driving motor 522 connected to the plane grinding disc 521 to drive the plane grinding disc 521 to rotate.

[0036] In this embodiment, the nail gun feeding device 2 includes a conveyor line 21, and a plurality of positioning fixtures 22 for fixing the nail gun casting 10 are provided on the conveyor line 21. The nail gun casting to be polished can be quickly and orderly conveyed to the manipulator.

[0037] Specifically, the conveyor line 21 includes a first belt line 211 and a second belt line 212 that run in parallel and synchronously, and the positioning fixture 22 includes a square groove 221 provided on the first belt line 211 and an arc groove 222 provided on the second belt line 212 and opposite to the square groove 221. It has a simple structure and reliable positioning.

[0038] More specifically, the end of the conveyor line 21 is provided with a positioning column 213 and a positioning cylinder 214 respectively located on both sides of the positioning fixture 22. When the nail gun casting 10 located in the positioning fixture 22 is conveyed to the end of the conveyor line 21, the positioning cylinder 214 pushes the nail gun casting 10 toward the positioning column 213. By pushing the nail gun casting 10 toward the positioning column 213 by the positioning cylinder 214, the position of the nail gun casting can be further corrected, so that the clamping of the manipulator is more accurate, which is conducive to controlling the accuracy of the grinding trajectory, thereby ensuring the grinding quality.

[0039] It should be noted that the nail gun unloading device 4 and the nail gun loading device 2 are devices with the same structure but different transport directions.

[0040] In this embodiment, the sharpening device 3 includes a fixed bracket 31 and a linear grinder 32 and a transfer fixture 33 arranged on the fixed bracket 31. The linear grinder 32 includes a driving wheel 321, a driven wheel 322, a grinding belt 323, a linear grinding drive motor, and a tensioning device 325; the grinding belt 323 is tensioned on the driving wheel 321 and the driven wheel 322, the output shaft of the linear grinding drive motor is connected to the driving wheel 321, and the tensioning device 325 includes a fixing rod 32 fixed to the fixed bracket 31. 6. An adjusting rod 327 whose first end is hinged to the upper end of the fixing rod 326, a tensioning wheel 329 hinged to the second end of the adjusting rod 327, and an elastic telescopic rod 328 hinged to the lower end of the fixing rod 326 and the other end of the adjusting rod 327. The tensioning wheel 329 is arranged on the adjusting rod 327 and is located between the driving wheel 321 and the driven wheel 322. The elastic telescopic rod 328 elastically extends to make the adjusting rod 327 swing upward, driving the tensioning wheel 329 to be tensioned on the upper section of the grinding belt 323. The tensioning device 325 is used to ensure that the grinding belt 323 is in a tensioned state.

[0041] Furthermore, the transfer fixture 33 is a pneumatic flat clamping finger arranged on one side of the fixed bracket 31, and its opening faces upward. It is used to clamp the handle of the nail gun casting and make the plane to be polished on the side face upward, so that the manipulator controls the plane polishing device 52 to perform polishing.

[0042] A three-dimensional force sensor is provided between the manipulator 1 and the integrated grinding and clamping fixture 5, which is used to sense the friction and pressure applied to the nail gun casting 10 during grinding. The three-dimensional force sensor is electrically connected to the manipulator, and the three-dimensional force sensor can feedback the friction and pressure of grinding to the manipulator, so as to adjust the grinding trajectory according to the change of force and prompt the timely replacement of grinding sandpaper. For example, when the friction force is less than the preset value, the manipulator is controlled to feed perpendicular to the grinding surface, and the user is reminded to replace the grinding sandpaper when the friction force has not recovered after multiple feedings. The adjusted motion trajectory is a preset candidate motion trajectory or a motion trajectory formed by increasing or decreasing the value online. This method can effectively improve the quality and effectiveness of grinding.

[0043] This embodiment also provides a nail gun casting flash grinding process, which uses the above-mentioned nail gun casting multi-faceted flash intelligent grinding equipment, including:

[0044] Loading: The nail gun loading device 2 positions and transports the nail gun casting 10 to the manipulator 1, wherein the nail gun casting can be placed on the nail gun loading device 2 manually or by a manipulator;

[0045] Clamping the nail gun casting: the manipulator 1 clamps the nail gun casting 10 on the nail gun feeding device 2;

[0046] Grinding the front linear flash: when the manipulator 1 clamps the nail gun casting 10, the front linear flash 100 is exposed, and the front linear flash 100 is aligned with the grinding belt 323 of the flash grinding device 3 for grinding;

[0047] Grinding the first side surface: the manipulator 1 clamps the nail gun casting 10 on the transfer fixture 33 of the flash grinding device 3 with the first side surface facing upward, and then uses the plane grinding device 52 on the manipulator 1 to grind the first side surface 200 of the nail gun casting 10 facing upward;

[0048] Grinding the second side surface: the manipulator 1 turns the nail gun casting 10 on the transfer fixture 33 by 180°, so that the second side surface is clamped on the transfer fixture 33 with the second side surface facing upward, and then the plane grinding device 52 on the manipulator 1 grinds the second side surface 300 of the nail gun casting 10 facing upward;

[0049] Grinding the linear flash on the back: clamping the nail gun casting 10 on the transfer fixture 33 with the manipulator 1, so that the linear flash 400 on the back of the nail gun casting 10 is exposed, and the linear flash 400 on the back is aligned with the grinding belt 323 of the flash grinding device 3 for grinding;

[0050] Unloading: The polished nail gun casting 10 is transferred to the nail gun unloading device 4 and transported to the next process through the nail gun unloading device 4.

[0051] Among them, the motion trajectory of each process of the robot 1 is pre-set. Through the nail gun casting burr grinding process, the linear burr is polished by moving the workpiece and fixing the grinding equipment, and the plane burr is polished by fixing the workpiece and moving the grinding equipment, which improves the grinding quality, and the automated grinding method is more efficient and has more stable quality.

[0052] In summary, this application has but is not limited to the following beneficial effects:

[0053] 1. The multi-sided burr intelligent grinding equipment for nail gun castings utilizes the nail gun loading device to load the material, the manipulator clamps the material to the burr grinding device for grinding, and the nail gun unloading device unloads the material, thereby realizing the burr grinding operation of the nail gun castings. It has a high degree of automation, improves the grinding efficiency and ensures the stability of the grinding quality.

[0054] 2. The integrated grinding and clamping fixture includes a linear grinding fixture and a plane grinding device, and has the functions of clamping the workpiece for grinding and grinding the fixed workpiece. It is particularly suitable for grinding multiple different surfaces. Moreover, when grinding the plane, the workpiece is fixed while the grinding equipment moves, which can better ensure the quality of plane grinding.

[0055] 3. The three-dimensional force sensor can effectively improve the quality and effectiveness of grinding, and facilitate timely replacement of grinding sandpaper.

[0056] 4. The nail gun casting burr grinding process utilizes the workpiece movement and the grinding equipment fixation to grind the linear burr, and utilizes the workpiece fixation and the grinding equipment movement to grind the plane burr, thereby improving the grinding quality, and the automated grinding method is more efficient and has more stable quality.

[0057] It should be understood that the terms "first", "second", etc. are used in this application to describe various information, but this information should not be limited to these terms, and these terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this application, the "first" information may also be referred to as the "second" information, and similarly, the "second" information may also be referred to as the "first" information. In addition, the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0058] As described above, one or more implementation methods are provided in combination with specific contents, and the specific implementation of this application is not limited to these descriptions. Any similarity or similarity with the method, structure, etc. of this application, or some technical deductions or replacements made based on the concept of this application should be considered as the protection scope of this application.

Claims

1. Intelligent grinding equipment for multi-faceted nail gun castings, characterized by: The invention comprises a manipulator (1) and a nail gun feeding device (2), a sharpening device (3) and a nail gun unloading device (4) arranged on the periphery of the manipulator (1); the manipulator (1) is provided with a grinding and clamping integrated clamp (5) for clamping a nail gun casting (10) on the nail gun feeding device (2) to the sharpening device (3) for grinding and then transferring it to the nail gun unloading device (4); The integrated grinding and clamping fixture (5) comprises a fixture body (50), and a linear grinding fixture (51) and a plane grinding device (52) arranged on the fixture body (50); the linear grinding fixture (51) comprises a front line grinding fixture (511) and a back line grinding fixture (512); The front line grinding fixture (511) comprises a first clamping finger (5111) and a second clamping finger (5112), wherein the first clamping finger (5111) and the second clamping finger (5112) are used to clamp the head and tail of the nail gun casting (10) respectively to expose the front side to be ground; The backline grinding fixture (512) comprises a third clamping finger (5121) and a fourth clamping finger (5122), wherein the third clamping finger (5121) and the fourth clamping finger (5122) are used to clamp the head and the tail of the nail gun casting (10) respectively to expose the back side to be ground; The edge grinding device (3) comprises a linear grinder (32) and a transfer fixture (33).

2. The multi-faceted intelligent grinding device for nail gun castings according to claim 1 is characterized in that: The plane grinding device (52) comprises a plane grinding disc (521) and a plane grinding drive motor (522) connected to the plane grinding disc (521) to drive the plane grinding disc (521) to rotate.

3. The multi-faceted intelligent grinding device for nail gun castings according to claim 1 is characterized in that: The nail gun feeding device (2) comprises a conveyor line (21), and a plurality of positioning fixtures (22) for fixing the nail gun casting (10) are provided on the conveyor line (21); The conveyor line (21) comprises a first belt line (211) and a second belt line (212) which are parallel and synchronously operated, and the positioning fixture (22) comprises a square groove (221) provided on the first belt line (211) and an arc groove (222) provided on the second belt line (212) and opposite to the square groove (221).

4. The multi-faceted intelligent grinding device for nail gun castings according to claim 3 is characterized in that: The end of the conveying line (21) is provided with a positioning column (213) and a positioning cylinder (214) respectively located on both sides of the positioning fixture (22); when the nail gun casting (10) located in the positioning fixture (22) is conveyed to the end of the conveying line (21), the positioning cylinder (214) pushes the nail gun casting (10) toward the positioning column (213).

5. The multi-faceted intelligent grinding device for nail gun castings according to claim 1 is characterized in that: The nail gun unloading device (4) and the nail gun loading device (2) are devices with the same structure but different transport directions.

6. The multi-faceted intelligent grinding device for nail gun castings according to claim 1 is characterized in that: The sharpening device (3) further comprises a fixed bracket (31), and the linear grinder (32) and the transfer fixture (33) are arranged on the fixed bracket (31); The linear sander (32) comprises a driving wheel (321), a driven wheel (322), a sanding belt (323), a linear sanding drive motor, and a tensioning device (325); the sanding belt (323) is tensioned on the driving wheel (321) and the driven wheel (322); the output shaft of the linear sanding drive motor is connected to the driving wheel (321); the tensioning device (325) comprises a fixing rod (326) fixed to the fixing bracket (31); an adjusting rod (327) having a first end hinged to an upper end of the fixing rod (326); A tensioning wheel (329) hinged to the second end of the adjusting rod (327), and an elastic telescopic rod (328) hinged to the lower end of the fixing rod (326) and the second end of the adjusting rod (327); the tensioning wheel (329) is arranged on the adjusting rod (327), and the tensioning wheel (329) is located between the driving wheel (321) and the driven wheel (322); the elastic telescopic rod (328) elastically extends to allow the adjusting rod (327) to swing upward, thereby driving the tensioning wheel (329) to be tensioned on the upper section of the grinding belt (323).

7. The multi-faceted intelligent grinding device for nail gun castings according to claim 6 is characterized in that: The transfer clamp (33) is a pneumatic flat clamping finger arranged on one side of the fixed bracket (31), and its opening faces upward.

8. The multi-faceted intelligent grinding device for nail gun castings according to any one of claims 1 to 7, characterized in that: A three-dimensional force sensor is provided between the manipulator (1) and the grinding and clamping integrated fixture (5), and is used to sense the friction and pressure applied to the nail gun casting (10) during grinding.

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